diff --git a/README.md b/README.md index bea0c89..4c61aa6 100644 --- a/README.md +++ b/README.md @@ -18,6 +18,8 @@ Todo List: Video for Unitree Guide Controller: [![](http://i1.hdslb.com/bfs/archive/310e6208920985ac43015b2da31c01ec15e2c5f9.jpg)](https://www.bilibili.com/video/BV1aJbAeZEuo/) +Video for OCS2 Quadruped Controller: +[![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/) ## Quick Start diff --git a/controllers/ocs2_quadruped_controller/README.md b/controllers/ocs2_quadruped_controller/README.md index ea15ef5..13678d6 100644 --- a/controllers/ocs2_quadruped_controller/README.md +++ b/controllers/ocs2_quadruped_controller/README.md @@ -3,6 +3,8 @@ This is a ros2-control controller based on [legged_control](https://github.com/qiayuanl/legged_control) and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2). +[![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/) + ## 2. Build ### 2.1 Build Dependencies diff --git a/descriptions/unitree/aliengo_description/config/ocs2/reference.info b/descriptions/unitree/aliengo_description/config/ocs2/reference.info index 6a6be26..2406df9 100644 --- a/descriptions/unitree/aliengo_description/config/ocs2/reference.info +++ b/descriptions/unitree/aliengo_description/config/ocs2/reference.info @@ -1,7 +1,7 @@ targetDisplacementVelocity 0.5; targetRotationVelocity 1.57; -comHeight 0.4 +comHeight 0.39 defaultJointState { diff --git a/descriptions/unitree/aliengo_description/config/ocs2/task.info b/descriptions/unitree/aliengo_description/config/ocs2/task.info index 22ba39d..490925c 100644 --- a/descriptions/unitree/aliengo_description/config/ocs2/task.info +++ b/descriptions/unitree/aliengo_description/config/ocs2/task.info @@ -154,7 +154,7 @@ initialState ;; Base Pose: [position, orientation] ;; (6,0) 0.0 ; p_base_x (7,0) 0.0 ; p_base_y - (8,0) 0.3 ; p_base_z + (8,0) 0.39 ; p_base_z (9,0) 0.0 ; theta_base_z (10,0) 0.0 ; theta_base_y (11,0) 0.0 ; theta_base_x @@ -283,9 +283,9 @@ selfCollision ; Whole body control torqueLimitsTask { - (0,0) 12.0 ; HAA - (1,0) 12.0 ; HFE - (2,0) 12.0 ; KFE + (0,0) 35.278 ; HAA + (1,0) 35.278 ; HFE + (2,0) 44.4 ; KFE } frictionConeTask diff --git a/descriptions/unitree/aliengo_description/config/robot_control.yaml b/descriptions/unitree/aliengo_description/config/robot_control.yaml index ae2cfb6..a749fb3 100644 --- a/descriptions/unitree/aliengo_description/config/robot_control.yaml +++ b/descriptions/unitree/aliengo_description/config/robot_control.yaml @@ -74,6 +74,7 @@ unitree_guide_controller: ocs2_quadruped_controller: ros__parameters: update_rate: 500 # Hz + default_kd: 5.0 joints: - FL_hip_joint diff --git a/descriptions/unitree/go1_description/config/ocs2/reference.info b/descriptions/unitree/go1_description/config/ocs2/reference.info index accc9bf..ac50463 100644 --- a/descriptions/unitree/go1_description/config/ocs2/reference.info +++ b/descriptions/unitree/go1_description/config/ocs2/reference.info @@ -1,21 +1,21 @@ targetDisplacementVelocity 0.5; targetRotationVelocity 1.57; -comHeight 0.307 +comHeight 0.33 defaultJointState { - (0,0) -0.20 ; FL_hip_joint - (1,0) 0.7 ; FL_thigh_joint + (0,0) -0.1 ; FL_hip_joint + (1,0) 0.8 ; FL_thigh_joint (2,0) -1.44 ; FL_calf_joint - (3,0) 0.20 ; FR_hip_joint - (4,0) 0.7 ; FR_thigh_joint + (3,0) 0.1 ; FR_hip_joint + (4,0) 0.8 ; FR_thigh_joint (5,0) -1.44 ; FR_calf_joint - (6,0) -0.20 ; RL_hip_joint - (7,0) 0.7 ; RL_thigh_joint + (6,0) -0.1 ; RL_hip_joint + (7,0) 0.8 ; RL_thigh_joint (8,0) -1.44 ; RL_calf_joint - (9,0) 0.20 ; RR_hip_joint - (10,0) 0.7 ; RR_thigh_joint + (9,0) 0.1 ; RR_hip_joint + (10,0) 0.8 ; RR_thigh_joint (11,0) -1.44 ; RR_calf_joint } diff --git a/descriptions/unitree/go1_description/config/ocs2/task.info b/descriptions/unitree/go1_description/config/ocs2/task.info index 1e3bc0e..634098a 100644 --- a/descriptions/unitree/go1_description/config/ocs2/task.info +++ b/descriptions/unitree/go1_description/config/ocs2/task.info @@ -19,7 +19,7 @@ swing_trajectory_config { liftOffVelocity 0.05 touchDownVelocity -0.1 - swingHeight 0.08 + swingHeight 0.1 swingTimeScale 0.15 } @@ -154,7 +154,7 @@ initialState ;; Base Pose: [position, orientation] ;; (6,0) 0.0 ; p_base_x (7,0) 0.0 ; p_base_y - (8,0) 0.3 ; p_base_z + (8,0) 0.33 ; p_base_z (9,0) 0.0 ; theta_base_z (10,0) 0.0 ; theta_base_y (11,0) 0.0 ; theta_base_x @@ -283,9 +283,9 @@ selfCollision ; Whole body control torqueLimitsTask { - (0,0) 33.5 ; HAA - (1,0) 33.5 ; HFE - (2,0) 33.5 ; KFE + (0,0) 23.7 ; HAA + (1,0) 23.7 ; HFE + (2,0) 35.5 ; KFE } frictionConeTask diff --git a/descriptions/unitree/go2_description/config/ocs2/reference.info b/descriptions/unitree/go2_description/config/ocs2/reference.info index 82f5088..f5b0e15 100644 --- a/descriptions/unitree/go2_description/config/ocs2/reference.info +++ b/descriptions/unitree/go2_description/config/ocs2/reference.info @@ -1,20 +1,20 @@ -targetDisplacementVelocity 0.5; +targetDisplacementVelocity 0.45; targetRotationVelocity 1.57; -comHeight 0.29 +comHeight 0.3 defaultJointState { - (0,0) -0.10 ; FL_hip_joint + (0,0) -0.20 ; FL_hip_joint (1,0) 0.72 ; FL_thigh_joint (2,0) -1.44 ; FL_calf_joint - (3,0) 0.10 ; FR_hip_joint + (3,0) 0.20 ; FR_hip_joint (4,0) 0.72 ; FR_thigh_joint (5,0) -1.44 ; FR_calf_joint - (6,0) -0.10 ; RL_hip_joint + (6,0) -0.20 ; RL_hip_joint (7,0) 0.72 ; RL_thigh_joint (8,0) -1.44 ; RL_calf_joint - (9,0) 0.10 ; RR_hip_joint + (9,0) 0.20 ; RR_hip_joint (10,0) 0.72 ; RR_thigh_joint (11,0) -1.44 ; RR_calf_joint } diff --git a/descriptions/unitree/go2_description/config/ocs2/task.info b/descriptions/unitree/go2_description/config/ocs2/task.info index f30e3f0..11f8002 100644 --- a/descriptions/unitree/go2_description/config/ocs2/task.info +++ b/descriptions/unitree/go2_description/config/ocs2/task.info @@ -283,9 +283,9 @@ selfCollision ; Whole body control torqueLimitsTask { - (0,0) 33.5 ; HAA - (1,0) 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